Sliding mode control of robotic arms with deadzone

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

© 2016 The Institution of Engineering and Technology. In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.
Original languageAmerican English
Pages (from-to)1214-1221
Number of pages8
JournalIET Control Theory and Applications
DOIs
StatePublished - 12 May 2017

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Dead Zone
Robotic arms
Sliding mode control
Sliding Mode Control
Sliding Mode
Robotics
Controller
Unknown
Controllers
Asymptotic stability
Asymptotic Stability
Lyapunov
Gravity
Gravitation
Engineering
Strategy

Cite this

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title = "Sliding mode control of robotic arms with deadzone",
abstract = "{\circledC} 2016 The Institution of Engineering and Technology. In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.",
author = "Rubio, {Jos{\'e} De Jes{\'u}s}",
year = "2017",
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day = "12",
doi = "10.1049/iet-cta.2016.0306",
language = "American English",
pages = "1214--1221",
journal = "IET Control Theory and Applications",
issn = "1751-8644",
publisher = "Institution of Engineering and Technology",

}

Sliding mode control of robotic arms with deadzone. / Rubio, José De Jesús.

In: IET Control Theory and Applications, 12.05.2017, p. 1214-1221.

Research output: Contribution to journalArticle

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T1 - Sliding mode control of robotic arms with deadzone

AU - Rubio, José De Jesús

PY - 2017/5/12

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N2 - © 2016 The Institution of Engineering and Technology. In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.

AB - © 2016 The Institution of Engineering and Technology. In this study, a sliding mode controller is designed for the regulation of robotic arms with unknown behaviours in the deadzone and gravity. The sliding mode strategy is employed to compensate the unknown behaviours. Furthermore, the asymptotic stability of the controller is guaranteed by the Lyapunov technique. The application in two robotic arms shows the effectiveness of the proposed technique.

U2 - 10.1049/iet-cta.2016.0306

DO - 10.1049/iet-cta.2016.0306

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JO - IET Control Theory and Applications

JF - IET Control Theory and Applications

SN - 1751-8644

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